Vanagom, I highly recommend you purchase the Bentley manual. While you're correct that the Bentley typically presumes a fairly high level of familiarity and competence, and is often 'over the head' of many casual backyard mechanics, I'd rather have such a manual than one which is too basic. And Capt. Mike or other members will often refer you to Page 26.13 or some such thing to help answer a question; so the Bentley is truly an invaluable prerequisite to using this site.
But there is no reason you cannot round out your Westy library with appropriate manuals from Haynes, Chilton, or others. Bus Depot sells a Haynes manual (Item Number HAY 3452), which they claim is exclusive to them, and which evidently covers the 1.9L and 2.1L Vanagons. I'll often refer to two or three relevant manuals before performing a repair.
I have made good use of Haynes manuals over the years while working on various cars, and their step-by-step instructions and photos have taught me more about auto mechanics than the Bentley ever has. For someone doing his first brake job, the Haynes' sequential steps (engage parking brake, loosen lug nuts, raise car on jack, remove roadwheel, ...), while admittedly overstating the obvious, can also inspire a rookie to proceed with some confidence.
Having said that, I'll add that once familiarized with the procedure at hand, there is no better resource than the Bentley. While it may be lacking in handy numbered steps, it is often far superior in providing torque settings, wear tolerances, testing procedures, etc.. Although I've never found a blatant inaccuracy in a Haynes manual, I will always defer to the Bentley in a case of conflicting data.
Happy wrenching!